An intelligent drone swarm control system for wide-area forest protection

Abstract

The present invention discloses an intelligent unmanned aerial vehicle cluster control system for wide-area forest protection, comprising a ground master control module, a collection module, a receiving and displaying module, a line control module and a cluster association module, wherein the ground master control module coordinates the work between the various modules, the collection module collects forest data through a collection device, and the receiving and displaying module receives the data collected by the unmanned aerial vehicle and displays the data content. The present invention groups and associates a plurality of unmanned aerial vehicles, sets a specified navigation range, manages the opening and closing of the collection device, thereby making the unmanned aerial vehicle collection distribution reasonable, flying within a certain range, and monitoring each other through the association of unmanned aerial vehicles, timely discovering the abnormal situation of the unmanned aerial vehicle, and being able to monitor and search for the abnormal unmanned aerial vehicle in time to avoid data damage, and taking over the collection mode to ensure the completion of the collection task, so as to make the unmanned aerial vehicle collection more efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) forest patrol, and in particular to an intelligent UAV cluster control system for wide-area forest protection. Background Art

[0002] Unmanned aerial vehicle (UAV) is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by an onboard computer. At present, UAVs are widely used in a wide range of fields, among which they play an important role in wide-area forest management. By using UAVs to take aerial photos of forests and collect environmental data of forests, they have a good role in promoting forest protection.

[0003] However, currently when drones are taking aerial photos of forests, abnormalities may occur due to various reasons, which may cause abnormal damage to the drones, loss of drone aerial data, and lead to data collection failure. Summary of the invention

[0004] The present invention provides an intelligent drone cluster control system for wide-area forest protection, which can effectively solve the problem raised in the above background technology that when drones are currently taking aerial photos of forests, the drones may experience abnormal aerial photography due to various reasons, which may cause abnormal damage to the drones, loss of drone aerial photography data, and failure of data collection.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent UAV cluster control system for wide-area forest protection, comprising a ground master control module, a collection module, a receiving and displaying module, a line control module and a cluster association module;

[0006] The ground master control module coordinates the work between various modules;

[0007] The collection module collects forest data through collection equipment;

[0008] The receiving and displaying module receives the data collected by the drone and displays the data content;

[0009] The route control module manages and controls the flight route of the drone;

[0010] The cluster association module associates the relative positions between the drones.

[0011] According to the above technical solution, the acquisition module includes a fuselage monitoring unit, an acquisition management unit and a positioning unit;

[0012] The fuselage monitoring unit monitors the usage data of the acquisition equipment and batteries on the drone, and promptly discovers and processes abnormal data;

[0013] The collection management unit collects forest data through the collection equipment on the drone;

[0014] The positioning unit positions the drone itself, and determines its own position and the positions of other operating drones.

[0015] According to the above technical solution, the acquisition devices managed by the acquisition management unit include cameras, humidity sensors, light sensors, wind speed sensors and temperature sensors;

[0016] Turn on the corresponding acquisition equipment according to the needs. Start the acquisition equipment when cruising and shooting. When returning, turn off the power of other equipment except the camera.

[0017] According to the above technical solution, the positioning unit locates its own position through GPS and displays it in coordinates on the ground master control module, and measures the relative position between drones through ultrasonic waves.

[0018] According to the above technical solution, the receiving and displaying module includes a receiving unit, a display unit and a data processing unit;

[0019] The receiving unit receives the collected data transmitted back by the collecting device;

[0020] The display unit displays and plays the returned displayable and playable data;

[0021] The data processing unit classifies the received data and searches for abnormal data.

[0022] According to the above technical solution, the route control module includes a route planning unit, a range setting unit and a flight simulation unit;

[0023] The route planning unit first performs aerial photography of the entire forest and plans flight routes for multiple drones;

[0024] The range setting unit defines the navigation range of the drone;

[0025] The flight simulation unit simulates the flight collection of the UAV through a computer and an aerial photography route.

[0026] According to the above technical solution, the navigation range set by the range setting unit includes a vertical direction and a horizontal direction, the vertical direction is the flight altitude, and the horizontal direction is represented by a horizontal coordinate;

[0027] UAVs that are flying within the flight range are in normal flight status, and those that are beyond the flight range are at risk of deviation. The ground control module monitors UAVs that are beyond the flight range in real time.

[0028] The range in the vertical direction is 90-110% of the planned height, and the range in the horizontal direction is a circular area with the planned point as the origin and one-tenth of the height as the radius.

[0029] According to the above technical solution, the cluster association module includes a task allocation module, an association setting unit, an association analysis unit and an association auxiliary unit;

[0030] The task allocation module allocates the data required to be collected in the forest to each drone;

[0031] The association setting unit analyzes the flying distance between the UAVs, and groups two UAVs that are close to each other into one group, wherein the two UAVs in one group are associated with each other;

[0032] When a drone is abnormal, the association analysis unit searches for data about the abnormal drone in the same group of drones and searches for the location of the abnormal drone;

[0033] The associated auxiliary unit tracks the abnormal drone and takes over to complete its unfinished tasks.

[0034] According to the above technical solution, a group of mutually related drones set by the association setting unit have the same collection equipment and collect each other's position data, and the position data of the related drones are stored separately.

[0035] According to the above technical solution, the associated auxiliary unit uses the drones in the same group to photograph the abnormal drone, track its position, transmit the data to the ground master control module, and after completing its own task, complete the collection task that the abnormal drone has not completed.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. By setting the task allocation module, the association setting unit, the association analysis unit and the association auxiliary unit, the drones are assigned to collect data separately. The drones are grouped and associated through the association setting unit. The associated drones monitor each other's position data changes. The data of the abnormal drones are sent to the ground control module so that the ground control module can take measures against the abnormal drones as soon as possible to avoid damage to the abnormal drones and data loss. The drones are associated with each other and monitor each other. This is suitable for the control of multiple drone clusters, and the control effect of the drones is better. The associated drones are used to take over the abnormal drones to continue collecting data, so that the collection tasks are carried out in an orderly manner.

[0038] 2. By setting up the route planning unit, range setting unit and flight simulation unit, after planning the flight route of the UAV, the flight range of the UAV is determined according to the flight altitude and route of the UAV. While ensuring the shooting effect of the UAV, the UAV is given a certain range of free flight. The UAV within the flight range is considered to be flying normally, and the UAV beyond the flight range is monitored, thereby reducing the number of monitored UAVs and the workload of yaw monitoring. The range can be limited according to the flight range, and it can be processed when the UAV flies out of the flight range to avoid large yaw of the UAV, protect the UAV and collect data.

[0039] 3. By setting up the acquisition management unit, manage the camera, humidity sensor, light sensor, wind speed sensor and temperature sensor, turn on the corresponding acquisition equipment according to the needs, start the acquisition equipment when cruising and shooting, and turn off the power of other devices except the camera when returning. By setting up multiple acquisition devices, data can be collected from more angles. When cruising, turn off unnecessary equipment to save energy consumption and make the use of the drone more efficient.

[0040] To summarize, multiple drones are grouped and associated, a specified navigation range is set, and the opening and closing of the collection equipment is managed, so that the drone collection distribution is reasonable and they fly within a certain range. By associating drones to monitor each other, abnormal situations of drones can be discovered in time, and abnormal drones can be monitored and searched in time to avoid data damage. The collection method can be taken over to ensure the completion of the collection task and make drone collection more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0042] In the attached picture:

[0043] Figure 1 It is a system structure block diagram of the present invention;

[0044] Figure 2 It is a schematic diagram of delimiting the navigation range of the UAV in the present invention. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] Example: Figure 1-2As shown, the present invention provides a technical solution, an intelligent UAV cluster control system for wide-area forest protection, including a ground master control module, a collection module, a receiving and display module, a line control module and a cluster association module;

[0047] The ground master control module coordinates the work among various modules;

[0048] The collection module collects forest data through collection equipment;

[0049] The receiving and displaying module receives the data collected by the drone and displays the data content;

[0050] The route control module manages and controls the flight route of the drone;

[0051] The cluster association module associates the relative positions between drones.

[0052] According to the above technical solution, the acquisition module includes a fuselage monitoring unit, an acquisition management unit and a positioning unit;

[0053] The fuselage monitoring unit monitors the usage data of the collection equipment and batteries on the drone, and promptly detects and handles abnormal data;

[0054] The collection management unit collects forest data through the collection equipment on the drone;

[0055] The positioning unit locates the drone itself and determines its own position and the positions of other operating drones.

[0056] According to the above technical solution, the collection devices managed by the collection management unit include cameras, humidity sensors, light sensors, wind speed sensors and temperature sensors;

[0057] Turn on the corresponding acquisition equipment according to the needs. Start the acquisition equipment when cruising and shoot. When returning, turn off the power of other equipment except the camera.

[0058] By setting up multiple collection devices, data can be collected from more angles, and unnecessary devices can be turned off during cruising, saving energy consumption and making the use of drones more efficient.

[0059] According to the above technical solution, the positioning unit locates its own position through GPS and displays it in coordinates on the ground master control module, and measures the relative position between drones through ultrasonic waves.

[0060] According to the above technical solution, the receiving and displaying module includes a receiving unit, a display unit and a data processing unit;

[0061] The receiving unit receives the collected data transmitted back by the collecting device;

[0062] The display unit displays and plays the returned displayable and playable data;

[0063] The data processing unit classifies the received data and searches for abnormal data.

[0064] According to the above technical solution, the route control module includes a route planning unit, a range setting unit and a flight simulation unit;

[0065] The route planning unit first takes aerial photos of the entire forest and plans the flight routes of multiple drones;

[0066] The range setting unit defines the range of the drone's navigation;

[0067] The flight simulation unit simulates the flight collection of drones through computers and aerial photography routes.

[0068] According to the above technical solution, the navigation range set by the range setting unit includes a vertical direction and a horizontal direction, the vertical direction is the flight altitude, and the horizontal direction is represented by a horizontal coordinate;

[0069] UAVs that are flying within the flight range are in normal flight status, and those that are beyond the flight range are at risk of deviation. The ground control module monitors UAVs that are beyond the flight range in real time.

[0070] The vertical range is 90-110% of the planned height, and the horizontal range is a circular area with the planned point as the origin and one-tenth of the height as the radius;

[0071] By planning the flight route and flight range of the drone and limiting its flight conditions, it is possible to handle the situation when the drone flies out of the flight range, avoid large deviations of the drone, protect the drone and collect data.

[0072] According to the above technical solution, the cluster association module includes a task allocation module, an association setting unit, an association analysis unit and an association auxiliary unit;

[0073] The task allocation module allocates the data required to be collected in the forest to each drone;

[0074] The association setting unit analyzes the flying distance between the UAVs, and groups two UAVs that are close to each other into one group, wherein the two UAVs in one group are associated with each other;

[0075] When a drone is abnormal, the correlation analysis unit searches for data about the abnormal drone in the same group of drones and finds the location of the abnormal drone;

[0076] The associated auxiliary unit tracks the abnormal drone and takes over its unfinished mission.

[0077] According to the above technical solution, a group of mutually related drones set by the association setting unit have the same collection device and collect each other's position data, and the position data of the related drones are stored separately.

[0078] According to the above technical solution, the associated auxiliary unit uses the drones in the same group to photograph the abnormal drone, track its position, and transmit the data to the ground master control module. After completing its own task, it then completes the collection task that the abnormal drone has not completed.

[0079] The location of abnormal drones can be tracked through associated drones and transmitted to the ground master control module, so that the ground master control module can search for abnormal drones, retrieve abnormal drones in time, save data in time, avoid damage to abnormal drones, and continue to collect data by taking over from abnormal drones through associated drones. It can provide data for the search of abnormal drones and complete subsequent collection tasks to ensure that the collection tasks are carried out in an orderly manner.

[0080] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent drone cluster control system for wide-area forest protection, characterized by: It includes a ground master control module, a collection module, a receiving and displaying module, a line control module and a cluster association module; the ground master control module coordinates the work between the various modules; the collection module collects forest data through collection equipment; the receiving and displaying module receives the data collected by the drone and displays the data content; the line control module manages and controls the flight route of the drone; the cluster association module associates the relative positions between the drones; The cluster association module includes a task allocation module, an association setting unit, an association analysis unit and an association auxiliary unit; the task allocation module allocates the data required for forest collection to each drone; the association setting unit analyzes the flying distance between drones and groups two drones that are close to each other into a group, and the two drones in a group are associated with each other; When a drone is abnormal, the correlation analysis unit searches for data about the abnormal drone in the same group of drones and finds the location of the abnormal drone; the correlation auxiliary unit tracks the abnormal drone and takes over its unfinished tasks; a group of mutually related drones set by the correlation setting unit have the same collection equipment, and collect each other's location data, and the location data of the related drones are stored separately; the correlation auxiliary unit uses the drones in the same group to photograph the abnormal drone, track its location, and transmit the data to the ground master control module, and after completing its own task, it completes the collection task that the abnormal drone has not completed.

2. The intelligent drone cluster control system for wide-area forest protection according to claim 1 is characterized in that: The collection module includes a fuselage monitoring unit, a collection management unit and a positioning unit; the fuselage monitoring unit monitors the usage data of the collection equipment and batteries on the drone, and promptly discovers and processes abnormal data; the collection management unit collects forest data through the collection equipment on the drone; the positioning unit positions the drone itself to determine its own position and the positions of other operating drones.

3. The intelligent drone cluster control system for wide-area forest protection according to claim 2 is characterized in that: The acquisition devices managed by the acquisition management unit include cameras, humidity sensors, light sensors, wind speed sensors and temperature sensors; the corresponding acquisition devices are turned on according to usage needs, the acquisition devices are started during cruise shooting, and the power of other devices except the camera is turned off when returning.

4. The intelligent drone cluster control system for wide-area forest protection according to claim 2 is characterized in that: The positioning unit locates its own position through GPS and displays it in coordinates on the ground master control module, and measures the relative positions between drones through ultrasonic waves.

5. The intelligent drone cluster control system for wide-area forest protection according to claim 1 is characterized in that: The receiving and displaying module comprises a receiving unit, a display unit and a data processing unit; the receiving unit receives the collected data transmitted back by the collecting device; the display unit displays and plays the returned displayable and playable data; the data processing unit classifies the received data and searches for abnormal data.

6. The intelligent drone cluster control system for wide-area forest protection according to claim 1 is characterized in that: The route control module includes a route planning unit, a range setting unit and a flight simulation unit; the route planning unit first takes aerial photos of the entire forest and plans the flight routes of multiple drones; the range setting unit defines the range of drone navigation; the flight simulation unit simulates the flight collection of drones through a computer and aerial photography routes.

7. The intelligent drone cluster control system for wide-area forest protection according to claim 6 is characterized in that: The navigation range set by the range setting unit includes vertical and horizontal directions, the vertical direction is the flight altitude, and the horizontal direction is represented by horizontal coordinates; a UAV sailing within the flight range is in a normal flight state, and a UAV beyond the flight range is a UAV with a risk of yaw, and the ground master control module monitors the UAVs beyond the flight range in real time; the vertical range is 90-110% of the planned altitude, and the horizontal range is a circular area with the planned point as the origin and one-tenth of the height as the radius.

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